According to an aspect, a method for sharing a collaborative augmented reality (AR) environment including obtaining, by a sensor system of a first computing system, visual data representing a physical space of an AR environment, where the visual data is used to create a three-dimensional (3D) map of the physical space. The 3D map includes a coordinate space having at least one virtual object added by a user of the first computing system. The method includes broadcasting, by a transducer on the first computing system, an ultrasound signal, where the ultrasound signal includes an identifier associated with the 3D map. The identifier is configured to be detected by a second computing system to join the AR environment.